#ifndef _INTERFACE_BACKEND_H
#define _INTERFACE_BACKEND_H
#include <QObject>
#include <QByteArray>

#include "_Interface/_global_datastruct.h"

class  BackendInterface : public QObject{
public:
    BackendInterface(){}
    ~BackendInterface(){}

public:
    virtual short toRobotTcpServerAdd() = 0;
    virtual short toRobotTcpServerListen() = 0;
    virtual bool  getRobotConnectStatus() = 0;

    virtual short ReadRobotJointData(double (&data)[6]) = 0;
    virtual short ReadRobotJointTorData(double (&data)[6]) = 0;

    virtual short ReadSpindleSpeed(double& data) = 0;

    virtual short ReadForceControlForceSetValue(double &data) = 0;
    virtual short ReadForceControlForceRealValue(double &data) = 0;

    virtual short ReadForceControlInitForceSetValue(double &data) = 0;
    virtual short ReadInitPosDelayTime(int &data) = 0;
    virtual short ReadRFSWStage(short &data) = 0;
    virtual short ReadForceControlStep(double &data) = 0;

    virtual short RFSWPorcess() = 0;
    virtual short ProcessDataSave() = 0;
    virtual short toRobotreceiveLoopRun() = 0;
    virtual short toRobotsendLoopRun() = 0;
};

#endif // _INTERFACE_BACKEND_H
